current limit stuff

Author: Vignesh1234587

src/main/java/frc/robot/BuildConstants.java

@@ -3,14 +3,14 @@
 /** Automatically generated file containing build version information. */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2024RobotCode";
+  public static final String MAVEN_NAME = "2024 Robot Code";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 313;
-  public static final String GIT_SHA = "974424bf6ad82162eaa1ac360b41f2aa0d05c04d";
-  public static final String GIT_DATE = "2024-07-27 20:08:15 EDT";
-  public static final String GIT_BRANCH = "rainbow-rumble";
-  public static final String BUILD_DATE = "2024-07-28 13:00:32 EDT";
-  public static final long BUILD_UNIX_TIME = 1722186032402L;
+  public static final int GIT_REVISION = 314;
+  public static final String GIT_SHA = "dbfb048d3f7aa479526221e9947ca94220ee5472";
+  public static final String GIT_DATE = "2024-07-28 19:57:18 EDT";
+  public static final String GIT_BRANCH = "main";
+  public static final String BUILD_DATE = "2024-08-12 20:03:21 EDT";
+  public static final long BUILD_UNIX_TIME = 1723507401200L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/Constants.java

@@ -65,10 +65,15 @@ public static class ModuleConstants {
     public static final double DRIVE_GEAR_RATIO = 6.12;
     public static final double TURN_GEAR_RATIO = 150.0 / 7.0;
 
-    public static final double DRIVE_STATOR_CURRENT_LIMIT = 40.0;
+    public static final double DRIVE_STATOR_CURRENT_LIMIT = 90.0;
     public static final boolean DRIVE_STATOR_CURRENT_LIMIT_ENABLED = true;
+    public static final double DRIVE_SUPPLY_CURRENT_LIMIT = 42.0;
+    public static final boolean DRIVE_SUPPLY_CURRENT_LIMIT_ENABLED = true;
+
     public static final double TURN_STATOR_CURRENT_LIMIT = 30.0;
     public static final boolean TURN_STATOR_CURRENT_LIMIT_ENABLED = true;
+    public static final double TURN_SUPPLY_CURRENT_LIMIT = 30.0;
+    public static final boolean TURN_SUPPLY_CURRENT_LIMIT_ENABLED = true;
   }
 
   public static class IntakeConstants {

src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java

@@ -98,6 +98,11 @@ public ModuleIOTalonFX(int index) {
         Constants.ModuleConstants.DRIVE_STATOR_CURRENT_LIMIT;
     driveConfig.CurrentLimits.StatorCurrentLimitEnable =
         Constants.ModuleConstants.DRIVE_STATOR_CURRENT_LIMIT_ENABLED;
+    driveConfig.CurrentLimits.SupplyCurrentLimit =
+        Constants.ModuleConstants.DRIVE_SUPPLY_CURRENT_LIMIT;
+    driveConfig.CurrentLimits.SupplyCurrentLimitEnable =
+        Constants.ModuleConstants.DRIVE_SUPPLY_CURRENT_LIMIT_ENABLED;
+
     driveTalon.getConfigurator().apply(driveConfig);
     setDriveBrakeMode(true);
     // setDriveOpenLoopRamp(Constants.SwerveConstants.OPEN_LOOP_RAMP_SEC);
@@ -107,6 +112,10 @@ public ModuleIOTalonFX(int index) {
         Constants.ModuleConstants.TURN_STATOR_CURRENT_LIMIT;
     turnConfig.CurrentLimits.StatorCurrentLimitEnable =
         Constants.ModuleConstants.TURN_STATOR_CURRENT_LIMIT_ENABLED;
+    turnConfig.CurrentLimits.SupplyCurrentLimit =
+        Constants.ModuleConstants.TURN_SUPPLY_CURRENT_LIMIT;
+    turnConfig.CurrentLimits.SupplyCurrentLimitEnable =
+        Constants.ModuleConstants.TURN_SUPPLY_CURRENT_LIMIT_ENABLED;
     turnTalon.getConfigurator().apply(turnConfig);
     setTurnBrakeMode(true);